vers la manipulation précise de grandes pièces …vers la manipulation précise de grandes pièces...
TRANSCRIPT
Vers la manipulation
précise de grandes
pièces dans de très
grands espaces de
travail
TECNALIA France
Montpellier
Valérie AUFFRAY
Directrice [email protected]
The concept
• A Cable-driven robot is a Parallel Robot actuated by cables (CDPR).
• It is mainly composed of:
• Winches (motor + encoder + drum)
• Cables
• Pulleys
• Platform (anchoring of cables and tool)
• Controller and drives
• The pulleys permit the routing of the cable from the winch to the desired output point. They can be directly fixed on the building or on a dedicated frame.
• The lengths of the cables are synchronously controlled in order to provide the desired motion of the platform in the Cartesian space.
• The implemented model on the controller takes into account the exact cable routing, sagging and elongation for a better positioning accuracy.
What does a cable-driven robot look like?
• Analysis of best configuration
• Control simulation
• Dynamic modeling of the platform
• Pre-tension analysis
Tecnalia’s expertise with CDPR
Simulation tools
• Cable modeling - deflection and elasticity
• Real time programming of cables behavior in control
Improvement of positioning accuracy
Cable behavior
Tecnalia’s expertise with CDPR
• Development of control dedicated to cable robots
• Development of force control
Control algorithm
Management of actuation redundancy
Integration of robot’s dynamics
Control of cable robot
Tecnalia’s expertise with CDPR
• Improving the working conditions
• Guaranteeing the safety in the handling
• Being able to use the smart crane in automated mode & manual mode.
• Avoiding the swinging of the parts during handling
• Reducing the setting time after movements
• Multifunctional: wide range of applications in the Aeronautics, Naval, Nuclear
industries
• Handling and assembly of heavy and large parts
• Handling and positioning of equipment in large structures: for example
crawling robots
• Handling and positioning of end-effectors in large structures for multiple
tasks (drilling, riveting, sealing…)
• Inspection of large workspaces
• Maintenance: stripping and/or painting tasks
• Maintenance: substitute telescopic platforms by cable driven platforms
The benefits
What is a cable-driven robot for?
• « Small » size (4m x 3m x 3m) , configurable robots (number of drums, cables configuration, …)
The first research prototypes
REELAX6 and REELAX8: Configurable robots of small size
• Medium size (11m x 4m x 3m), 8 cables
• Industrial controller: Bechkoff
• Payload: 60 kg
HRPcable: Pre-industrial robot to hang (by a thread) an humanoid robot
Pre-industrial prototype of medium size
• Developed by TECNALIA & CNRS-LIRMM
• Footprint: 15*11*6m3 • Payload: 500kg
• Workspace up to 80% of the footprint • 4mm diameter steel cables • Industrial controller: B&R Automation • Mean positioning accuracy: 50mm • Mean positioning repeatability: 3mm
Large scale demonstrator : CoGiRo: a Cable-Driven Parallel Robot with no equivalent in Europe! COGIRO: Europe Biggest Cable-Driven Parallel Robot
Pre-industrial prototype of large size
Industrial applications: Logistics - Handling of parts
Demos performed with Cogiro Prototype
COGIRO. Cable Driven Parallel Robot
(Logistics)
https://youtu.be/dmTjrPZqMfo
Large size, pre-industrial robot COGIRO
Cable robots prototypes
Industrial applications: Handling of heavy and large parts
COGIRO. Cable Driven Parallel Robot
(Large parts assembly)
https://youtu.be/YA2yzc0Vz5w
• Positioning and assembly of aeronautical parts controlling the orientation
Large size, pre-industrial robot COGIRO
Cable robots prototypes
Industrial applications: Assembly of a scaled footbridge of ACCIONA
http://youtu.be/An_i8xoMXDc
http://youtu.be/px8vwNerkuo
Large size, pre-industrial robot COGIRO
Cable robots prototypes
Industrial applications: Aircraft maintenance operations
Industrial applications: Aircraft maintenance operations
COGIRO. Cable Driven Parallel Robot (Large surface
painting)
https://youtu.be/Q05F7Kb96wI
Cable-driven parallel robots equipped with robotics arms for painting and inspection operations
Large size, pre-industrial robot COGIRO
Cable robots prototypes
Industrial applications: Handling and positioning of end-effectors in large structures
CABLECRANE system is a novel solution patented
Industrial product
Smart crane - Double-bridge gantry crane with a hoist
where all motors are servo-motors
computer controlled
- Large workspaces covered
- Heavy loads of several tonnes can be
handled
Cable-Driven Parallel Robot –
CDPR - Fully control of 3 displacements and 3
rotations
- No swinging of the load
- Accuracy in positioning
- Load firmily held by 8 cables coming from
different directions in a configuration that
optimizes the workspace
- Movement in synchronization with the hoist
of the smart crane
Available at CEMVISA facilities by the end of 2016!!!
Industrial applications: Handling and positioning of heavy and large parts
Industrial applications: Handling and positioning of heavy and large parts
